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Diffstat (limited to 'modules/bullet/bullet_physics_server.cpp')
| -rw-r--r-- | modules/bullet/bullet_physics_server.cpp | 1339 |
1 files changed, 1339 insertions, 0 deletions
diff --git a/modules/bullet/bullet_physics_server.cpp b/modules/bullet/bullet_physics_server.cpp new file mode 100644 index 0000000000..2656074296 --- /dev/null +++ b/modules/bullet/bullet_physics_server.cpp @@ -0,0 +1,1339 @@ +/*************************************************************************/ +/* bullet_physics_server.cpp */ +/* Author: AndreaCatania */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* http://www.godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ + +#include "bullet_physics_server.h" +#include "LinearMath/btVector3.h" +#include "bullet_utilities.h" +#include "class_db.h" +#include "cone_twist_joint_bullet.h" +#include "core/error_macros.h" +#include "core/ustring.h" +#include "generic_6dof_joint_bullet.h" +#include "hinge_joint_bullet.h" +#include "pin_joint_bullet.h" +#include "shape_bullet.h" +#include "slider_joint_bullet.h" +#include <assert.h> + +#define CreateThenReturnRID(owner, ridData) \ + RID rid = owner.make_rid(ridData); \ + ridData->set_self(rid); \ + ridData->_set_physics_server(this); \ + return rid; + +// <--------------- Joint creation asserts +/// Assert the body is assigned to a space +#define JointAssertSpace(body, bIndex, ret) \ + if (!body->get_space()) { \ + ERR_PRINTS("Before create a joint the Body" + String(bIndex) + " must be added to a space!"); \ + return ret; \ + } + +/// Assert the two bodies of joint are in the same space +#define JointAssertSameSpace(bodyA, bodyB, ret) \ + if (bodyA->get_space() != bodyB->get_space()) { \ + ERR_PRINT("In order to create a joint the Body_A and Body_B must be in the same space!"); \ + return RID(); \ + } + +#define AddJointToSpace(body, joint, disableCollisionsBetweenLinkedBodies) \ + body->get_space()->add_constraint(joint, disableCollisionsBetweenLinkedBodies); +// <--------------- Joint creation asserts + +btEmptyShape *BulletPhysicsServer::emptyShape(ShapeBullet::create_shape_empty()); + +btEmptyShape *BulletPhysicsServer::get_empty_shape() { + return emptyShape; +} + +void BulletPhysicsServer::_bind_methods() { + //ClassDB::bind_method(D_METHOD("DoTest"), &BulletPhysicsServer::DoTest); +} + +BulletPhysicsServer::BulletPhysicsServer() + : PhysicsServer(), + active(true), + activeSpace(NULL) {} + +BulletPhysicsServer::~BulletPhysicsServer() {} + +RID BulletPhysicsServer::shape_create(ShapeType p_shape) { + ShapeBullet *shape = NULL; + + switch (p_shape) { + case SHAPE_PLANE: { + + shape = bulletnew(PlaneShapeBullet); + } break; + case SHAPE_SPHERE: { + + shape = bulletnew(SphereShapeBullet); + } break; + case SHAPE_BOX: { + + shape = bulletnew(BoxShapeBullet); + } break; + case SHAPE_CAPSULE: { + + shape = bulletnew(CapsuleShapeBullet); + } break; + case SHAPE_CONVEX_POLYGON: { + + shape = bulletnew(ConvexPolygonShapeBullet); + } break; + case SHAPE_CONCAVE_POLYGON: { + + shape = bulletnew(ConcavePolygonShapeBullet); + } break; + case SHAPE_HEIGHTMAP: { + + shape = bulletnew(HeightMapShapeBullet); + } break; + case SHAPE_RAY: { + shape = bulletnew(RayShapeBullet); + } break; + case SHAPE_CUSTOM: + defaul: + ERR_FAIL_V(RID()); + break; + } + + CreateThenReturnRID(shape_owner, shape) +} + +void BulletPhysicsServer::shape_set_data(RID p_shape, const Variant &p_data) { + ShapeBullet *shape = shape_owner.get(p_shape); + ERR_FAIL_COND(!shape); + shape->set_data(p_data); +} + +void BulletPhysicsServer::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) { + //WARN_PRINT("Bias not supported by Bullet physics engine"); +} + +PhysicsServer::ShapeType BulletPhysicsServer::shape_get_type(RID p_shape) const { + ShapeBullet *shape = shape_owner.get(p_shape); + ERR_FAIL_COND_V(!shape, PhysicsServer::SHAPE_CUSTOM); + return shape->get_type(); +} + +Variant BulletPhysicsServer::shape_get_data(RID p_shape) const { + ShapeBullet *shape = shape_owner.get(p_shape); + ERR_FAIL_COND_V(!shape, Variant()); + return shape->get_data(); +} + +real_t BulletPhysicsServer::shape_get_custom_solver_bias(RID p_shape) const { + //WARN_PRINT("Bias not supported by Bullet physics engine"); + return 0.; +} + +RID BulletPhysicsServer::space_create() { + SpaceBullet *space = bulletnew(SpaceBullet(false)); + CreateThenReturnRID(space_owner, space); +} + +void BulletPhysicsServer::space_set_active(RID p_space, bool p_active) { + if (p_active) { + if (activeSpace) { + // There is another space and this cannot be activated + ERR_PRINT("There is another space, before activate new one deactivate the current space."); + } else { + SpaceBullet *space = space_owner.get(p_space); + if (space) { + activeSpace = space; + } else { + ERR_PRINT("The passed RID is not a valid space. Please provide a RID with SpaceBullet type."); + } + } + } else { + if (!space_is_active(p_space)) { + activeSpace = NULL; + } + } +} + +bool BulletPhysicsServer::space_is_active(RID p_space) const { + return NULL != activeSpace && activeSpace == p_space.get_data(); +} + +void BulletPhysicsServer::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) { + SpaceBullet *space = space_owner.get(p_space); + ERR_FAIL_COND(!space); + space->set_param(p_param, p_value); +} + +real_t BulletPhysicsServer::space_get_param(RID p_space, SpaceParameter p_param) const { + SpaceBullet *space = space_owner.get(p_space); + ERR_FAIL_COND_V(!space, 0); + return space->get_param(p_param); +} + +PhysicsDirectSpaceState *BulletPhysicsServer::space_get_direct_state(RID p_space) { + SpaceBullet *space = space_owner.get(p_space); + ERR_FAIL_COND_V(!space, NULL); + + return space->get_direct_state(); +} + +void BulletPhysicsServer::space_set_debug_contacts(RID p_space, int p_max_contacts) { + SpaceBullet *space = space_owner.get(p_space); + ERR_FAIL_COND(!space); + + space->set_debug_contacts(p_max_contacts); +} + +Vector<Vector3> BulletPhysicsServer::space_get_contacts(RID p_space) const { + SpaceBullet *space = space_owner.get(p_space); + ERR_FAIL_COND_V(!space, Vector<Vector3>()); + + return space->get_debug_contacts(); +} + +int BulletPhysicsServer::space_get_contact_count(RID p_space) const { + SpaceBullet *space = space_owner.get(p_space); + ERR_FAIL_COND_V(!space, 0); + + return space->get_debug_contact_count(); +} + +RID BulletPhysicsServer::area_create() { + AreaBullet *area = bulletnew(AreaBullet); + area->set_collision_layer(1); + area->set_collision_mask(1); + CreateThenReturnRID(area_owner, area) +} + +void BulletPhysicsServer::area_set_space(RID p_area, RID p_space) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + SpaceBullet *space = NULL; + if (p_space.is_valid()) { + space = space_owner.get(p_space); + ERR_FAIL_COND(!space); + } + area->set_space(space); +} + +RID BulletPhysicsServer::area_get_space(RID p_area) const { + AreaBullet *area = area_owner.get(p_area); + return area->get_space()->get_self(); +} + +void BulletPhysicsServer::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area) + + area->set_spOv_mode(p_mode); +} + +PhysicsServer::AreaSpaceOverrideMode BulletPhysicsServer::area_get_space_override_mode(RID p_area) const { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND_V(!area, PhysicsServer::AREA_SPACE_OVERRIDE_DISABLED); + + return area->get_spOv_mode(); +} + +void BulletPhysicsServer::area_add_shape(RID p_area, RID p_shape, const Transform &p_transform) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + + ShapeBullet *shape = shape_owner.get(p_shape); + ERR_FAIL_COND(!shape); + + area->add_shape(shape, p_transform); +} + +void BulletPhysicsServer::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + + ShapeBullet *shape = shape_owner.get(p_shape); + ERR_FAIL_COND(!shape); + + area->set_shape(p_shape_idx, shape); +} + +void BulletPhysicsServer::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + + area->set_shape_transform(p_shape_idx, p_transform); +} + +int BulletPhysicsServer::area_get_shape_count(RID p_area) const { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND_V(!area, 0); + + return area->get_shape_count(); +} + +RID BulletPhysicsServer::area_get_shape(RID p_area, int p_shape_idx) const { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND_V(!area, RID()); + + return area->get_shape(p_shape_idx)->get_self(); +} + +Transform BulletPhysicsServer::area_get_shape_transform(RID p_area, int p_shape_idx) const { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND_V(!area, Transform()); + + return area->get_shape_transform(p_shape_idx); +} + +void BulletPhysicsServer::area_remove_shape(RID p_area, int p_shape_idx) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + return area->remove_shape(p_shape_idx); +} + +void BulletPhysicsServer::area_clear_shapes(RID p_area) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + + for (int i = area->get_shape_count(); 0 < i; --i) + area->remove_shape(0); +} + +void BulletPhysicsServer::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + + area->set_shape_disabled(p_shape_idx, p_disabled); +} + +void BulletPhysicsServer::area_attach_object_instance_id(RID p_area, ObjectID p_ID) { + if (space_owner.owns(p_area)) { + return; + } + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + area->set_instance_id(p_ID); +} + +ObjectID BulletPhysicsServer::area_get_object_instance_id(RID p_area) const { + if (space_owner.owns(p_area)) { + return 0; + } + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND_V(!area, ObjectID()); + return area->get_instance_id(); +} + +void BulletPhysicsServer::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) { + if (space_owner.owns(p_area)) { + SpaceBullet *space = space_owner.get(p_area); + if (space) { + space->set_param(p_param, p_value); + } + } else { + + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + + area->set_param(p_param, p_value); + } +} + +Variant BulletPhysicsServer::area_get_param(RID p_area, AreaParameter p_param) const { + if (space_owner.owns(p_area)) { + SpaceBullet *space = space_owner.get(p_area); + return space->get_param(p_param); + } else { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND_V(!area, Variant()); + + return area->get_param(p_param); + } +} + +void BulletPhysicsServer::area_set_transform(RID p_area, const Transform &p_transform) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + area->set_transform(p_transform); +} + +Transform BulletPhysicsServer::area_get_transform(RID p_area) const { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND_V(!area, Transform()); + return area->get_transform(); +} + +void BulletPhysicsServer::area_set_collision_mask(RID p_area, uint32_t p_mask) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + area->set_collision_mask(p_mask); +} + +void BulletPhysicsServer::area_set_collision_layer(RID p_area, uint32_t p_layer) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + area->set_collision_layer(p_layer); +} + +void BulletPhysicsServer::area_set_monitorable(RID p_area, bool p_monitorable) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + + area->set_monitorable(p_monitorable); +} + +void BulletPhysicsServer::area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + + area->set_event_callback(CollisionObjectBullet::TYPE_RIGID_BODY, p_receiver ? p_receiver->get_instance_id() : 0, p_method); +} + +void BulletPhysicsServer::area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + + area->set_event_callback(CollisionObjectBullet::TYPE_AREA, p_receiver ? p_receiver->get_instance_id() : 0, p_method); +} + +void BulletPhysicsServer::area_set_ray_pickable(RID p_area, bool p_enable) { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND(!area); + area->set_ray_pickable(p_enable); +} + +bool BulletPhysicsServer::area_is_ray_pickable(RID p_area) const { + AreaBullet *area = area_owner.get(p_area); + ERR_FAIL_COND_V(!area, false); + return area->is_ray_pickable(); +} + +RID BulletPhysicsServer::body_create(BodyMode p_mode, bool p_init_sleeping) { + RigidBodyBullet *body = bulletnew(RigidBodyBullet); + body->set_mode(p_mode); + body->set_collision_layer(1); + body->set_collision_mask(1); + if (p_init_sleeping) + body->set_state(BODY_STATE_SLEEPING, p_init_sleeping); + CreateThenReturnRID(rigid_body_owner, body); +} + +void BulletPhysicsServer::body_set_space(RID p_body, RID p_space) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + SpaceBullet *space = NULL; + + if (p_space.is_valid()) { + space = space_owner.get(p_space); + ERR_FAIL_COND(!space); + } + + if (body->get_space() == space) + return; //pointles + + body->set_space(space); +} + +RID BulletPhysicsServer::body_get_space(RID p_body) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, RID()); + + SpaceBullet *space = body->get_space(); + if (!space) + return RID(); + return space->get_self(); +} + +void BulletPhysicsServer::body_set_mode(RID p_body, PhysicsServer::BodyMode p_mode) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_mode(p_mode); +} + +PhysicsServer::BodyMode BulletPhysicsServer::body_get_mode(RID p_body) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, BODY_MODE_STATIC); + return body->get_mode(); +} + +void BulletPhysicsServer::body_add_shape(RID p_body, RID p_shape, const Transform &p_transform) { + + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + ShapeBullet *shape = shape_owner.get(p_shape); + ERR_FAIL_COND(!shape); + + body->add_shape(shape, p_transform); +} + +void BulletPhysicsServer::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + ShapeBullet *shape = shape_owner.get(p_shape); + ERR_FAIL_COND(!shape); + + body->set_shape(p_shape_idx, shape); +} + +void BulletPhysicsServer::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_shape_transform(p_shape_idx, p_transform); +} + +int BulletPhysicsServer::body_get_shape_count(RID p_body) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0); + return body->get_shape_count(); +} + +RID BulletPhysicsServer::body_get_shape(RID p_body, int p_shape_idx) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, RID()); + + ShapeBullet *shape = body->get_shape(p_shape_idx); + ERR_FAIL_COND_V(!shape, RID()); + + return shape->get_self(); +} + +Transform BulletPhysicsServer::body_get_shape_transform(RID p_body, int p_shape_idx) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, Transform()); + return body->get_shape_transform(p_shape_idx); +} + +void BulletPhysicsServer::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_shape_disabled(p_shape_idx, p_disabled); +} + +void BulletPhysicsServer::body_remove_shape(RID p_body, int p_shape_idx) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->remove_shape(p_shape_idx); +} + +void BulletPhysicsServer::body_clear_shapes(RID p_body) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->remove_all_shapes(); +} + +void BulletPhysicsServer::body_attach_object_instance_id(RID p_body, uint32_t p_ID) { + CollisionObjectBullet *body = get_collisin_object(p_body); + if (!body) { + body = soft_body_owner.get(p_body); + } + ERR_FAIL_COND(!body); + + body->set_instance_id(p_ID); +} + +uint32_t BulletPhysicsServer::body_get_object_instance_id(RID p_body) const { + CollisionObjectBullet *body = get_collisin_object(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_instance_id(); +} + +void BulletPhysicsServer::body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_continuous_collision_detection(p_enable); +} + +bool BulletPhysicsServer::body_is_continuous_collision_detection_enabled(RID p_body) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, false); + + return body->is_continuous_collision_detection_enabled(); +} + +void BulletPhysicsServer::body_set_collision_layer(RID p_body, uint32_t p_layer) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_collision_layer(p_layer); +} + +uint32_t BulletPhysicsServer::body_get_collision_layer(RID p_body) const { + const RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_collision_layer(); +} + +void BulletPhysicsServer::body_set_collision_mask(RID p_body, uint32_t p_mask) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_collision_mask(p_mask); +} + +uint32_t BulletPhysicsServer::body_get_collision_mask(RID p_body) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_collision_mask(); +} + +void BulletPhysicsServer::body_set_user_flags(RID p_body, uint32_t p_flags) { + WARN_PRINT("This function si not currently supported by bullet and Godot"); +} + +uint32_t BulletPhysicsServer::body_get_user_flags(RID p_body) const { + WARN_PRINT("This function si not currently supported by bullet and Godot"); + return 0; +} + +void BulletPhysicsServer::body_set_param(RID p_body, BodyParameter p_param, float p_value) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_param(p_param, p_value); +} + +float BulletPhysicsServer::body_get_param(RID p_body, BodyParameter p_param) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_param(p_param); +} + +void BulletPhysicsServer::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_state(p_state, p_variant); +} + +Variant BulletPhysicsServer::body_get_state(RID p_body, BodyState p_state) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, Variant()); + + return body->get_state(p_state); +} + +void BulletPhysicsServer::body_set_applied_force(RID p_body, const Vector3 &p_force) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_applied_force(p_force); +} + +Vector3 BulletPhysicsServer::body_get_applied_force(RID p_body) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, Vector3()); + return body->get_applied_force(); +} + +void BulletPhysicsServer::body_set_applied_torque(RID p_body, const Vector3 &p_torque) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_applied_torque(p_torque); +} + +Vector3 BulletPhysicsServer::body_get_applied_torque(RID p_body) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, Vector3()); + + return body->get_applied_torque(); +} + +void BulletPhysicsServer::body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->apply_impulse(p_pos, p_impulse); +} + +void BulletPhysicsServer::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->apply_torque_impulse(p_impulse); +} + +void BulletPhysicsServer::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + Vector3 v = body->get_linear_velocity(); + Vector3 axis = p_axis_velocity.normalized(); + v -= axis * axis.dot(v); + v += p_axis_velocity; + body->set_linear_velocity(v); +} + +void BulletPhysicsServer::body_set_axis_lock(RID p_body, PhysicsServer::BodyAxisLock p_lock) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_axis_lock(p_lock); +} + +PhysicsServer::BodyAxisLock BulletPhysicsServer::body_get_axis_lock(RID p_body) const { + const RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, BODY_AXIS_LOCK_DISABLED); + return body->get_axis_lock(); +} + +void BulletPhysicsServer::body_add_collision_exception(RID p_body, RID p_body_b) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + RigidBodyBullet *other_body = rigid_body_owner.get(p_body_b); + ERR_FAIL_COND(!other_body); + + body->add_collision_exception(other_body); +} + +void BulletPhysicsServer::body_remove_collision_exception(RID p_body, RID p_body_b) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + RigidBodyBullet *other_body = rigid_body_owner.get(p_body_b); + ERR_FAIL_COND(!other_body); + + body->remove_collision_exception(other_body); +} + +void BulletPhysicsServer::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + for (int i = 0; i < body->get_exceptions().size(); i++) { + p_exceptions->push_back(body->get_exceptions()[i]); + } +} + +void BulletPhysicsServer::body_set_max_contacts_reported(RID p_body, int p_contacts) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_max_collisions_detection(p_contacts); +} + +int BulletPhysicsServer::body_get_max_contacts_reported(RID p_body) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_max_collisions_detection(); +} + +void BulletPhysicsServer::body_set_contacts_reported_depth_threshold(RID p_body, float p_treshold) { + WARN_PRINT("Not supported by bullet and even Godot"); +} + +float BulletPhysicsServer::body_get_contacts_reported_depth_threshold(RID p_body) const { + WARN_PRINT("Not supported by bullet and even Godot"); + return 0.; +} + +void BulletPhysicsServer::body_set_omit_force_integration(RID p_body, bool p_omit) { + WARN_PRINT("Not supported by bullet"); +} + +bool BulletPhysicsServer::body_is_omitting_force_integration(RID p_body) const { + WARN_PRINT("Not supported by bullet"); + return false; +} + +void BulletPhysicsServer::body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_force_integration_callback(p_receiver->get_instance_id(), p_method, p_udata); +} + +void BulletPhysicsServer::body_set_ray_pickable(RID p_body, bool p_enable) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_ray_pickable(p_enable); +} + +bool BulletPhysicsServer::body_is_ray_pickable(RID p_body) const { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, false); + return body->is_ray_pickable(); +} + +PhysicsDirectBodyState *BulletPhysicsServer::body_get_direct_state(RID p_body) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, NULL); + return BulletPhysicsDirectBodyState::get_singleton(body); +} + +bool BulletPhysicsServer::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, float p_margin, MotionResult *r_result) { + RigidBodyBullet *body = rigid_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, false); + ERR_FAIL_COND_V(!body->get_space(), false); + + return body->get_space()->test_body_motion(body, p_from, p_motion, p_margin, r_result); +} + +RID BulletPhysicsServer::soft_body_create(bool p_init_sleeping) { + SoftBodyBullet *body = bulletnew(SoftBodyBullet); + body->set_collision_layer(1); + body->set_collision_mask(1); + if (p_init_sleeping) + body->set_activation_state(false); + CreateThenReturnRID(soft_body_owner, body); +} + +void BulletPhysicsServer::soft_body_set_space(RID p_body, RID p_space) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + SpaceBullet *space = NULL; + + if (p_space.is_valid()) { + space = space_owner.get(p_space); + ERR_FAIL_COND(!space); + } + + if (body->get_space() == space) + return; //pointles + + body->set_space(space); +} + +RID BulletPhysicsServer::soft_body_get_space(RID p_body) const { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, RID()); + + SpaceBullet *space = body->get_space(); + if (!space) + return RID(); + return space->get_self(); +} + +void BulletPhysicsServer::soft_body_set_trimesh_body_shape(RID p_body, PoolVector<int> p_indices, PoolVector<Vector3> p_vertices, int p_triangles_num) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_trimesh_body_shape(p_indices, p_vertices, p_triangles_num); +} + +void BulletPhysicsServer::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_collision_layer(p_layer); +} + +uint32_t BulletPhysicsServer::soft_body_get_collision_layer(RID p_body) const { + const SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_collision_layer(); +} + +void BulletPhysicsServer::soft_body_set_collision_mask(RID p_body, uint32_t p_mask) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_collision_mask(p_mask); +} + +uint32_t BulletPhysicsServer::soft_body_get_collision_mask(RID p_body) const { + const SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_collision_mask(); +} + +void BulletPhysicsServer::soft_body_add_collision_exception(RID p_body, RID p_body_b) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + CollisionObjectBullet *other_body = rigid_body_owner.get(p_body_b); + if (!other_body) { + other_body = soft_body_owner.get(p_body_b); + } + ERR_FAIL_COND(!other_body); + + body->add_collision_exception(other_body); +} + +void BulletPhysicsServer::soft_body_remove_collision_exception(RID p_body, RID p_body_b) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + CollisionObjectBullet *other_body = rigid_body_owner.get(p_body_b); + if (!other_body) { + other_body = soft_body_owner.get(p_body_b); + } + ERR_FAIL_COND(!other_body); + + body->remove_collision_exception(other_body); +} + +void BulletPhysicsServer::soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + for (int i = 0; i < body->get_exceptions().size(); i++) { + p_exceptions->push_back(body->get_exceptions()[i]); + } +} + +void BulletPhysicsServer::soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) { + print_line("TODO MUST BE IMPLEMENTED"); +} + +Variant BulletPhysicsServer::soft_body_get_state(RID p_body, BodyState p_state) const { + print_line("TODO MUST BE IMPLEMENTED"); + return Variant(); +} + +void BulletPhysicsServer::soft_body_set_transform(RID p_body, const Transform &p_transform) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + + body->set_transform(p_transform); +} + +Transform BulletPhysicsServer::soft_body_get_transform(RID p_body) const { + const SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, Transform()); + + return body->get_transform(); +} + +void BulletPhysicsServer::soft_body_set_ray_pickable(RID p_body, bool p_enable) { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND(!body); + body->set_ray_pickable(p_enable); +} + +bool BulletPhysicsServer::soft_body_is_ray_pickable(RID p_body) const { + SoftBodyBullet *body = soft_body_owner.get(p_body); + ERR_FAIL_COND_V(!body, false); + return body->is_ray_pickable(); +} + +PhysicsServer::JointType BulletPhysicsServer::joint_get_type(RID p_joint) const { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, JOINT_PIN); + return joint->get_type(); +} + +void BulletPhysicsServer::joint_set_solver_priority(RID p_joint, int p_priority) { + //WARN_PRINTS("Joint priority not supported by bullet"); +} + +int BulletPhysicsServer::joint_get_solver_priority(RID p_joint) const { + //WARN_PRINTS("Joint priority not supported by bullet"); + return 0; +} + +RID BulletPhysicsServer::joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) { + RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A); + ERR_FAIL_COND_V(!body_A, RID()); + + JointAssertSpace(body_A, "A", RID()); + + RigidBodyBullet *body_B = NULL; + if (p_body_B.is_valid()) { + body_B = rigid_body_owner.get(p_body_B); + JointAssertSpace(body_B, "B", RID()); + JointAssertSameSpace(body_A, body_B, RID()); + } + + ERR_FAIL_COND_V(body_A == body_B, RID()); + + JointBullet *joint = bulletnew(PinJointBullet(body_A, p_local_A, body_B, p_local_B)); + AddJointToSpace(body_A, joint, true); + + CreateThenReturnRID(joint_owner, joint); +} + +void BulletPhysicsServer::pin_joint_set_param(RID p_joint, PinJointParam p_param, float p_value) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_PIN); + PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint); + pin_joint->set_param(p_param, p_value); +} + +float BulletPhysicsServer::pin_joint_get_param(RID p_joint, PinJointParam p_param) const { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, 0); + ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, 0); + PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint); + return pin_joint->get_param(p_param); +} + +void BulletPhysicsServer::pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_PIN); + PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint); + pin_joint->setPivotInA(p_A); +} + +Vector3 BulletPhysicsServer::pin_joint_get_local_a(RID p_joint) const { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, Vector3()); + ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, Vector3()); + PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint); + return pin_joint->getPivotInA(); +} + +void BulletPhysicsServer::pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_PIN); + PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint); + pin_joint->setPivotInB(p_B); +} + +Vector3 BulletPhysicsServer::pin_joint_get_local_b(RID p_joint) const { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, Vector3()); + ERR_FAIL_COND_V(joint->get_type() != JOINT_PIN, Vector3()); + PinJointBullet *pin_joint = static_cast<PinJointBullet *>(joint); + return pin_joint->getPivotInB(); +} + +RID BulletPhysicsServer::joint_create_hinge(RID p_body_A, const Transform &p_hinge_A, RID p_body_B, const Transform &p_hinge_B) { + RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A); + ERR_FAIL_COND_V(!body_A, RID()); + JointAssertSpace(body_A, "A", RID()); + + RigidBodyBullet *body_B = NULL; + if (p_body_B.is_valid()) { + body_B = rigid_body_owner.get(p_body_B); + JointAssertSpace(body_B, "B", RID()); + JointAssertSameSpace(body_A, body_B, RID()); + } + + ERR_FAIL_COND_V(body_A == body_B, RID()); + + JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_hinge_A, p_hinge_B)); + AddJointToSpace(body_A, joint, true); + + CreateThenReturnRID(joint_owner, joint); +} + +RID BulletPhysicsServer::joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) { + RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A); + ERR_FAIL_COND_V(!body_A, RID()); + JointAssertSpace(body_A, "A", RID()); + + RigidBodyBullet *body_B = NULL; + if (p_body_B.is_valid()) { + body_B = rigid_body_owner.get(p_body_B); + JointAssertSpace(body_B, "B", RID()); + JointAssertSameSpace(body_A, body_B, RID()); + } + + ERR_FAIL_COND_V(body_A == body_B, RID()); + + JointBullet *joint = bulletnew(HingeJointBullet(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B)); + AddJointToSpace(body_A, joint, true); + + CreateThenReturnRID(joint_owner, joint); +} + +void BulletPhysicsServer::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, float p_value) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_HINGE); + HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint); + hinge_joint->set_param(p_param, p_value); +} + +float BulletPhysicsServer::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, 0); + ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, 0); + HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint); + return hinge_joint->get_param(p_param); +} + +void BulletPhysicsServer::hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_HINGE); + HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint); + hinge_joint->set_flag(p_flag, p_value); +} + +bool BulletPhysicsServer::hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, false); + ERR_FAIL_COND_V(joint->get_type() != JOINT_HINGE, false); + HingeJointBullet *hinge_joint = static_cast<HingeJointBullet *>(joint); + return hinge_joint->get_flag(p_flag); +} + +RID BulletPhysicsServer::joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) { + RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A); + ERR_FAIL_COND_V(!body_A, RID()); + JointAssertSpace(body_A, "A", RID()); + + RigidBodyBullet *body_B = NULL; + if (p_body_B.is_valid()) { + body_B = rigid_body_owner.get(p_body_B); + JointAssertSpace(body_B, "B", RID()); + JointAssertSameSpace(body_A, body_B, RID()); + } + + ERR_FAIL_COND_V(body_A == body_B, RID()); + + JointBullet *joint = bulletnew(SliderJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B)); + AddJointToSpace(body_A, joint, true); + + CreateThenReturnRID(joint_owner, joint); +} + +void BulletPhysicsServer::slider_joint_set_param(RID p_joint, SliderJointParam p_param, float p_value) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_SLIDER); + SliderJointBullet *slider_joint = static_cast<SliderJointBullet *>(joint); + slider_joint->set_param(p_param, p_value); +} + +float BulletPhysicsServer::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, 0); + ERR_FAIL_COND_V(joint->get_type() != JOINT_SLIDER, 0); + SliderJointBullet *slider_joint = static_cast<SliderJointBullet *>(joint); + return slider_joint->get_param(p_param); +} + +RID BulletPhysicsServer::joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) { + RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A); + ERR_FAIL_COND_V(!body_A, RID()); + JointAssertSpace(body_A, "A", RID()); + + RigidBodyBullet *body_B = NULL; + if (p_body_B.is_valid()) { + body_B = rigid_body_owner.get(p_body_B); + JointAssertSpace(body_B, "B", RID()); + JointAssertSameSpace(body_A, body_B, RID()); + } + + JointBullet *joint = bulletnew(ConeTwistJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B)); + AddJointToSpace(body_A, joint, true); + + CreateThenReturnRID(joint_owner, joint); +} + +void BulletPhysicsServer::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, float p_value) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_CONE_TWIST); + ConeTwistJointBullet *coneTwist_joint = static_cast<ConeTwistJointBullet *>(joint); + coneTwist_joint->set_param(p_param, p_value); +} + +float BulletPhysicsServer::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, 0.); + ERR_FAIL_COND_V(joint->get_type() != JOINT_CONE_TWIST, 0.); + ConeTwistJointBullet *coneTwist_joint = static_cast<ConeTwistJointBullet *>(joint); + return coneTwist_joint->get_param(p_param); +} + +RID BulletPhysicsServer::joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B) { + RigidBodyBullet *body_A = rigid_body_owner.get(p_body_A); + ERR_FAIL_COND_V(!body_A, RID()); + JointAssertSpace(body_A, "A", RID()); + + RigidBodyBullet *body_B = NULL; + if (p_body_B.is_valid()) { + body_B = rigid_body_owner.get(p_body_B); + JointAssertSpace(body_B, "B", RID()); + JointAssertSameSpace(body_A, body_B, RID()); + } + + ERR_FAIL_COND_V(body_A == body_B, RID()); + + JointBullet *joint = bulletnew(Generic6DOFJointBullet(body_A, body_B, p_local_frame_A, p_local_frame_B, true)); + AddJointToSpace(body_A, joint, true); + + CreateThenReturnRID(joint_owner, joint); +} + +void BulletPhysicsServer::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, float p_value) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_6DOF); + Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint); + generic_6dof_joint->set_param(p_axis, p_param, p_value); +} + +float BulletPhysicsServer::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, 0); + ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, 0); + Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint); + return generic_6dof_joint->get_param(p_axis, p_param); +} + +void BulletPhysicsServer::generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_6DOF); + Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint); + generic_6dof_joint->set_flag(p_axis, p_flag, p_enable); +} + +bool BulletPhysicsServer::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) { + JointBullet *joint = joint_owner.get(p_joint); + ERR_FAIL_COND_V(!joint, false); + ERR_FAIL_COND_V(joint->get_type() != JOINT_6DOF, false); + Generic6DOFJointBullet *generic_6dof_joint = static_cast<Generic6DOFJointBullet *>(joint); + return generic_6dof_joint->get_flag(p_axis, p_flag); +} + +void BulletPhysicsServer::free(RID p_rid) { + if (shape_owner.owns(p_rid)) { + + ShapeBullet *shape = shape_owner.get(p_rid); + + // Notify the shape is configured + for (Map<ShapeOwnerBullet *, int>::Element *element = shape->get_owners().front(); element; element = element->next()) { + static_cast<ShapeOwnerBullet *>(element->key())->remove_shape(shape); + } + + shape_owner.free(p_rid); + bulletdelete(shape); + } else if (rigid_body_owner.owns(p_rid)) { + + RigidBodyBullet *body = rigid_body_owner.get(p_rid); + + body->set_space(NULL); + + body->remove_all_shapes(true); + + rigid_body_owner.free(p_rid); + bulletdelete(body); + + } else if (soft_body_owner.owns(p_rid)) { + + SoftBodyBullet *body = soft_body_owner.get(p_rid); + + body->set_space(NULL); + + soft_body_owner.free(p_rid); + bulletdelete(body); + + } else if (area_owner.owns(p_rid)) { + + AreaBullet *area = area_owner.get(p_rid); + + area->set_space(NULL); + + area->remove_all_shapes(true); + + area_owner.free(p_rid); + bulletdelete(area); + + } else if (joint_owner.owns(p_rid)) { + + JointBullet *joint = joint_owner.get(p_rid); + joint->destroy_internal_constraint(); + joint_owner.free(p_rid); + bulletdelete(joint); + + } else if (space_owner.owns(p_rid)) { + + SpaceBullet *space = space_owner.get(p_rid); + + space->remove_all_collision_objects(); + + space_set_active(p_rid, false); + space_owner.free(p_rid); + bulletdelete(space); + } else { + + ERR_EXPLAIN("Invalid ID"); + ERR_FAIL(); + } +} + +void BulletPhysicsServer::init() { + BulletPhysicsDirectBodyState::initSingleton(); +} + +void BulletPhysicsServer::step(float p_deltaTime) { + if (!active) + return; + + BulletPhysicsDirectBodyState::singleton_setDeltaTime(p_deltaTime); + if (activeSpace) { + activeSpace->step(p_deltaTime); + } +} + +void BulletPhysicsServer::sync() { +} + +void BulletPhysicsServer::flush_queries() { +} + +void BulletPhysicsServer::finish() { + BulletPhysicsDirectBodyState::destroySingleton(); +} + +int BulletPhysicsServer::get_process_info(ProcessInfo p_info) { + return 0; +} + +CollisionObjectBullet *BulletPhysicsServer::get_collisin_object(RID p_object) const { + if (rigid_body_owner.owns(p_object)) { + return rigid_body_owner.getornull(p_object); + } + if (area_owner.owns(p_object)) { + return area_owner.getornull(p_object); + } + if (soft_body_owner.owns(p_object)) { + return soft_body_owner.getornull(p_object); + } + return NULL; +} + +RigidCollisionObjectBullet *BulletPhysicsServer::get_rigid_collisin_object(RID p_object) const { + if (rigid_body_owner.owns(p_object)) { + return rigid_body_owner.getornull(p_object); + } + if (area_owner.owns(p_object)) { + return area_owner.getornull(p_object); + } + return NULL; +} |